#!/usr/bin/env python3

"""
* Copyright 2020, 2021, 2022 Black Coffee Robotics LLP (https://www.blackcoffeerobotics.com).

* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
*     http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*/
"""
import yaml
import os

import rospy
from std_msgs.msg import String


def main():
    """ Summary: Test script to enable new topics on the slim_bridge via ROS1 API."""
    rospy.init_node('ros1_2_test')
    publisher = rospy.Publisher('/ros1_to_2', String, queue_size=1, latch=True)
    msg = String()
    dictionary = {
    'topic_name': '/test_string_1_2',
    'latch': True,
    'reliability': 'reliable',
    'durability': 'transient_local',
    'history': 'keep_last',
    'depth': 1,
    'queue_size': 1,
    'type': 'std_msgs/String'
    }

    msg.data = str(yaml.dump(dictionary, Dumper=yaml.dumper.SafeDumper))
    publisher.publish(msg)
    rospy.spin()

if __name__ == '__main__':
    try:
        main()
    except rospy.ROSInterruptException:
        pass